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[wpilibc] Remove ErrorBase (#3306)

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Replace with new exception-based error reporting, consistent with Java.
This also builds stacktraces into the reporting/exceptions.
This commit is contained in:
Peter Johnson
2021-04-18 20:35:29 -07:00
committed by GitHub
parent 0abf6c9045
commit 8d961dfd25
113 changed files with 993 additions and 2200 deletions
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63
wpilibc/src/main/native/cpp/AnalogTrigger.cpp
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@@ -11,7 +11,7 @@
#include "frc/AnalogInput.h"
#include "frc/Base.h"
#include "frc/DutyCycle.h"
#include "frc/WPIErrors.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -26,11 +26,7 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) {
m_analogInput = input;
int32_t status = 0;
m_trigger = HAL_InitializeAnalogTrigger(input->m_port, &status);
if (status != 0) {
wpi_setHALError(status);
m_trigger = HAL_kInvalidHandle;
return;
}
FRC_CheckErrorStatus(status, "InitializeAnalogTrigger");
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
@@ -41,11 +37,7 @@ AnalogTrigger::AnalogTrigger(DutyCycle* input) {
m_dutyCycle = input;
int32_t status = 0;
m_trigger = HAL_InitializeAnalogTriggerDutyCycle(input->m_handle, &status);
if (status != 0) {
wpi_setHALError(status);
m_trigger = HAL_kInvalidHandle;
return;
}
FRC_CheckErrorStatus(status, "InitializeAnalogTriggerDutyCycle");
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
@@ -55,6 +47,7 @@ AnalogTrigger::AnalogTrigger(DutyCycle* input) {
AnalogTrigger::~AnalogTrigger() {
int32_t status = 0;
HAL_CleanAnalogTrigger(m_trigger, &status);
FRC_ReportError(status, "CleanAnalogTrigger");
if (m_ownsAnalog) {
delete m_analogInput;
@@ -62,16 +55,13 @@ AnalogTrigger::~AnalogTrigger() {
}
AnalogTrigger::AnalogTrigger(AnalogTrigger&& rhs)
: ErrorBase(std::move(rhs)),
SendableHelper(std::move(rhs)),
m_trigger(std::move(rhs.m_trigger)) {
: SendableHelper(std::move(rhs)), m_trigger(std::move(rhs.m_trigger)) {
std::swap(m_analogInput, rhs.m_analogInput);
std::swap(m_dutyCycle, rhs.m_dutyCycle);
std::swap(m_ownsAnalog, rhs.m_ownsAnalog);
}
AnalogTrigger& AnalogTrigger::operator=(AnalogTrigger&& rhs) {
ErrorBase::operator=(std::move(rhs));
SendableHelper::operator=(std::move(rhs));
m_trigger = std::move(rhs.m_trigger);
@@ -83,85 +73,58 @@ AnalogTrigger& AnalogTrigger::operator=(AnalogTrigger&& rhs) {
}
void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetLimitsVoltage");
}
void AnalogTrigger::SetLimitsDutyCycle(double lower, double upper) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetAnalogTriggerLimitsDutyCycle(m_trigger, lower, upper, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetLimitsDutyCycle");
}
void AnalogTrigger::SetLimitsRaw(int lower, int upper) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetLimitsRaw");
}
void AnalogTrigger::SetAveraged(bool useAveragedValue) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetAveraged");
}
void AnalogTrigger::SetFiltered(bool useFilteredValue) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetFiltered");
}
int AnalogTrigger::GetIndex() const {
if (StatusIsFatal()) {
return -1;
}
int32_t status = 0;
auto ret = HAL_GetAnalogTriggerFPGAIndex(m_trigger, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetIndex");
return ret;
}
bool AnalogTrigger::GetInWindow() {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool result = HAL_GetAnalogTriggerInWindow(m_trigger, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetInWindow");
return result;
}
bool AnalogTrigger::GetTriggerState() {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool result = HAL_GetAnalogTriggerTriggerState(m_trigger, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetTriggerState");
return result;
}
std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
AnalogTriggerType type) const {
if (StatusIsFatal()) {
return nullptr;
}
return std::shared_ptr<AnalogTriggerOutput>(
new AnalogTriggerOutput(*this, type), NullDeleter<AnalogTriggerOutput>());
}